Total views : 171

Two-section Articulated Chassis with Active Articulating Joints and Walking Mechanisms for Enhancing Off-road Capability of Mobile Robotic Systems


  • Joint Stock Company Science and Technology Centre «ROCAD», St. Petersburg, Russia


Objectives: The relevance of this research is determined by challenges faced by today’s robotics and requirements regarding increased movement speed, enhanced mobility on rough terrain, with view to their limitations in weight and dimensions, increased operation time and range of coverage that are imposed on such devices. Therefore, this research aims at discovering a possibility of enhancing off-road capability of mobile high-mobility robotic systems. Method: Comparative analysis of a variety of chassis designs of high-mobility robotic platforms is the basic approach to studying this problem. This article includes a review of modern structures of mobility systems, and structural, configuration and specification advantages and disadvantages of such systems. Findings: An articulated chassis layout that includes active articulating joints with two sections and walking mechanisms was selected as a result of this research. Two mobile robotic platforms were developed according to this layout. Robotic platforms were tested and their high off-road capability was proved within this research. Test materials for one robotic platform and some simulation results for the other platform are presented in this article. Appearance is provided and the specifications of the developed mobile robotic platforms are given. Improvements: This article should be particularly interesting for designers of robotic mobility systems. This research reveals two modern high-mobility robotic systems that may be used for solving multi-objective problems in various industries.


Articulated Frame, Mobile Robotics, Mobile Robotic Platforms, Mobility Systems, Off-Road Capability, Wheel- Walking Chassis.

Full Text:

 |  (PDF views: 183)


  • Raibert M, Blankespoor K, Nelson G, Playter R, the BigDog Team. BigDog, the rough-terrain quadruped robot. IFAC Proceedings Volumes. 2008; 41(2):10822–5.
  • Harrington BD, Voorhees CH. The challenges of designing the rocker-bogie suspension for the mars exploration rover. Proceedings of 37th Aerospace Mechanisms Symposium, Jonson Space Center, 2004 May 19-21; 2004. p. 185–95.
  • MSL Curiosity Rover [Internet]. [cited 2016 Feb 11]. Available from:
  • Mars Exploration Rovers [Internet]. [cited 2003 Jun 07]. Available from:
  • Zhang YH, Xiao J, Zhang XW, Liu DF, Zou HW. Design and implementation of Chang’E-3 rover location system. Science China Technological Sciences. 2014; 44(5):483–91.
  • Kucherenko V, Bogatchev A, Winnendael MV. Chassis concepts for ExoMars rover. Proceedings of 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation, ESTEC, Noordwijk, the Netherlands, 2004 Nov 2 – 4; 2004. p. 1–8.
  • Affordable Robust Unmanned Ground Solutions [Internet]. [cited 2011]. Available from:
  • UGCV. Unmanned ground combat vehicles [Internet]. [cited 2013 Aug 30]. Available from:
  • Ellery A. Planetary rovers. Springer-Verlag Berlin Heidelberg: Germany; 2016. p. XXIX,702.
  • Yu BK. Object-oriented simulation of sophisticated dynamic systems, St. Petersburg: SPSPU Press; 2004.
  • Kosenko II, Kuznetsova LV, Nikolaev AV, Yu KL, Oleynik AV. Simulating and virtual prototyping: a textbook. Moscow: Infra-M Alfa-M Unijum Servis; 2015.
  • Surovec R, Gmiterko A, Vacková M, Virgala I, Prada E, Pipík T. Design of robot vehicle undercarriage with ability to operate in broken terrain, Procedia Engineering. 2012; 48:650–5.
  • Toha SF, Zainol Z. System modelling of rocker-bogie mechanism for disaster relief. IEEE International Symposium on Robotics and Intelligent Sensors, Prcedia Computer Science. 2015; 76:243–9.
  • Sayyaadi H, Kouhi H, Salarieh H. Control of car-like (wheeled) multi robots for following and hunting a moving target, Scientia Iranica. 2011; 18(4):950–65.
  • Ellery A. Planetary rovers: robotic exploration of the solar system. Springer Praxis Books; 2016.
  • Gao H, Li W, Ding L, Deng Z, Liu Z. A method for on-line soil parameters modification to planetary rover simulation. Journal of Terramechanics. 2012; 49(6):325–39.


  • There are currently no refbacks.

Creative Commons License
This work is licensed under a Creative Commons Attribution 3.0 License.